US11048288B2

Operation device for vehicle

Summary by NHIP

Vehicle input device with variable reaction force

The device controls an in-vehicle unit by applying a reaction force to a manually displaced operation unit based on its speed. A control unit adjusts this force using stored viscosity characteristics to maintain a constant driver load, ensuring force increases with speed below a reference threshold and remains constant at or above it.

Claim Score by NHIP

Read claim 1, the broadest

Abstract

An operation device in which in-vehicle devices are controlled in accordance with a rotation angle of an input unit operated by a manual operation of a driver, which includes a commander rotatable about a rotation shaft, a rotation angular speed calculation unit that detects a rotation angular speed of the commander, a motor that gives an operation reaction force for each predetermined rotation angle of the commander, and an ECU that controls the operation reaction force given by the motor, wherein the ECU changes the operation reaction force in accordance with the rotation angular speed detected by the rotation angular speed calculation unit.

US11048288B2, drawing sheet 1 — Sheet 1 of 17

Term

11.7 yearsleft in the term

Expires 28 May 2038, including 101 days of term adjustment.

8 claims: 1 independent, 7 dependent

1
Broadest claimClaim Score 24, narrow(NHIP)An operation device for a vehicle in which an in-vehicle device is controlled in accordance with an operation amount of an input unit which is manually operated by a driver, the operation device comprising:an operation unit that is displaceable along a predetermined operation trajectory by a manual operation of a driver;a displacement speed detection unit that detects a displacement speed of the operation unit;a reaction force application unit that applies an operation reaction force to the operation unit for each predetermined operation amount of the operation unit;a control unit that controls an operation reaction force applied by the reaction force application unit;and a memory that stores an operation unit viscosity characteristic that has been set with an operation reaction force applied to the operation unit and a displacement speed of the operation unit as parameters, wherein: the control unit changes the operation reaction force in accordance with a displacement speed that is detected by the displacement speed detection unit, the control unit changes the operation reaction force so that a load that acts on a driver at a time of operating the operation unit, which is determined by the operation unit viscosity characteristic and a muscle viscosity characteristic of a driver, becomes constant, and the operation unit viscosity characteristic is a characteristic that has a time constant such that when a displacement speed is less than a reference displacement speed, the larger a displacement speed is, the larger an operation reaction force becomes, and when a displacement speed is equal to or greater than a reference displacement speed, an operation reaction force becomes constant regardless of a displacement speed.

189 paragraphs in 6 sections, as filed

TECHNICAL FIELD

0001The present invention relates to an operation device for a vehicle in which an in-vehicle device is controlled in accordance with an operation amount of an input unit which is manually operated by a driver.

BACKGROUND ART

0002Conventionally, there has been known an operation device for a vehicle in which a selection screen for selecting operations of a plurality of in-vehicle devices (audio equipment, air conditioners, etc.) is displayed on a monitor, and the driver selects an arbitrary item from the selection screen by using an operation unit and causes the in-vehicle device to operate a function corresponding to the selected item.

0003In such an operation device for a vehicle, when an operation reaction force associated with a displacement of the operation unit is too small, the operation feeling is light and there is a possibility of overshooting. On the other hand, when an operation reaction force associated with a displacement of the operation unit is too large, the operation feeling is heavy, and there is a possibility of occurrence of an operation delay.

0004Therefore, the operation unit is controlled based on an operation reaction force characteristic capable of generating an appropriate operation feeling with respect to the driver.

0005For example, Patent Literature 1 discloses an operation device for a vehicle that controls an in-vehicle device in accordance with to an operation amount of a joystick-type input processing device which is operated about a rotation shaft by a manual operation of the driver. This operation device for a vehicle includes a stick portion that is rotatable about a rotation shaft, a travel state detection means for detecting a travel state of the vehicle, a reaction force application means for applying an operation reaction force to the stick portion, and a control means for controlling the operation reaction force applied by the reaction force application means. The control means changes, based on the travel state detected by the travel state detection means, an operation amount-operation reaction force amount characteristic that indicates the operation reaction force amount with respect to the operation amount of the stick portion, and sets the operation reaction force amount in accordance with the changed operation amount-operation reaction force amount characteristic.

0006In the technique disclosed in Patent Literature 1, the click feeling of the operation unit is increased in a high-speed travel state in which an erroneous operation on the operation unit is likely to occur, thereby preventing the driver from failing to enter.

0007However, in the technique of Patent Literature 1, merely the operation reaction force of the operation unit is adjusted based on an influence from the external environment such as the travel state, and the mechanical characteristic of the human limbs and the so-called viscoelastic characteristic (hereinafter referred to as muscle elasticity characteristic) of human joints, muscles, and the like are not considered. For this reason, the technique of Patent Literature 1 is not capable of providing an operation feeling that matches the operation condition (action) of the driver in terms of ergonomics.

CITATION LIST

Patent Literature

0008Patent Literature 1: Japanese Patent Application Publication No. 2003-335192

SUMMARY OF INVENTION

0009It is an object of the present invention to provide an operation device for a vehicle that is capable of optimizing an operation reaction force felt by the driver regardless of the displacement speed of the operation unit.

0010An operation device for a vehicle according to one aspect of the present invention is an operation device for a vehicle in which an in-vehicle device is controlled in accordance with an operation amount of an input unit which is manually operated by a driver, the operation device including: an operation unit that is displacable along a predetermined operation trajectory by a manual operation of the driver; a displacement speed detection unit that detects a displacement speed of the operation unit; a reaction force application unit that applies an operation reaction force to the operation unit for each predetermined operation amount of the operation unit; and a control unit that controls an operation reaction force applied by the reaction force application unit, wherein: the control unit changes the operation reaction force in accordance with a displacement speed that is detected by the displacement speed detection unit.

0011According to the present aspect, the operation reaction force felt by the driver can be optimized regardless of the displacement speed of the operation unit.

BRIEF DESCRIPTION OF DRAWINGS

0012<figref idref="DRAWINGS">FIG. 1</figref> is a view showing a layout of an operation device for a vehicle according to a first embodiment.

0013<figref idref="DRAWINGS">FIG. 2</figref> is a plan view of a commander switch.

0014<figref idref="DRAWINGS">FIG. 3</figref> is a block diagram of the operation device for a vehicle.

0015<figref idref="DRAWINGS">FIG. 4</figref> is a chart showing an initial F-θ characteristic.

0016<figref idref="DRAWINGS">FIG. 5</figref> is a chart showing a commander viscosity characteristic.

0017<figref idref="DRAWINGS">FIG. 6</figref> is a chart showing a muscle viscosity characteristic.

0018<figref idref="DRAWINGS">FIG. 7A</figref> is a view showing an example of a peak portion of an operation reaction force when an operation experience amount is large.

0019<figref idref="DRAWINGS">FIG. 7B</figref> is a view showing an example of a peak portion of an operation reaction force when an operation experience amount is small.

0020<figref idref="DRAWINGS">FIG. 8</figref> is an example of display contents.

0021<figref idref="DRAWINGS">FIG. 9</figref> is an example of the F-θ characteristic including a plurality of categories.

0022<figref idref="DRAWINGS">FIG. 10</figref> is an explanatory diagram of switching timing.

0023<figref idref="DRAWINGS">FIG. 11</figref> is a flowchart of operation reaction force control processing.

0024<figref idref="DRAWINGS">FIG. 12</figref> is a flowchart of basic F-θ characteristic setting processing.

0025<figref idref="DRAWINGS">FIG. 13</figref> is a flowchart of operation reaction force correction processing.

DESCRIPTION OF EMBODIMENTS

0026(Findings Leading to the Present Invention)

0027The applicant of the present invention has found that in a case where the driver operates the operation unit, ergonomically, a large viscous reaction force (viscosity value) is generated with respect to the driver based on the muscle viscosity characteristic when the muscular activity of the driver is high (operation speed is high), compared to when the muscular activity is low.

0028The applicant of the present invention has also found that the load perceived by the driver when the driver operates the operation unit can be regarded as the sum of two reaction forces, an operation reaction force (hereinafter referred to as sensory reaction force) felt by the driver from the operation unit and a viscous reaction force that is the motion resistance of the driver.

0029According to the above findings, even if the operation reaction force of the operation unit is set to a certain characteristic based on the influence of an external environment as in the technique of Patent Literature 1, the driver may perceive a high sensory reaction force when the muscle activity is high, and the driver may perceive a low sensory reaction force when the muscle activity is low. Therefore, the driver may feel a sense of incongruity in the operation of the operation unit.

0030In particular, there are many joints involved such as finger joints and wrist joints in the operation unit operated about the rotation shaft by a manual operation, and the operation thereof is complicated. Therefore, the viscous reaction force based on the muscle viscosity characteristic has a considerable effect on the load perceived by the driver.

0031Based on the above findings, the applicant of the present invention has conceived of the present invention in which the operation reaction force felt by the driver can be optimized regardless of the displacement speed of the operation unit by taking into consideration the muscle viscosity characteristic of the driver.

0032Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

0033The following description exemplifies an application of the present invention to an operation device for a vehicle, and does not limit the present invention, its application, or its use.

First Embodiment

0034Hereinafter, the first embodiment of the present invention will be described with reference to <figref idref="DRAWINGS">FIGS. 1 to 13</figref>.

0035First, an overall configuration of a vehicle V will be described.

0036As shown in <figref idref="DRAWINGS">FIG. 1</figref>, the vehicle V includes an instrument panel 1 extending in a vehicle width direction, a console box 2 extending back and forth and continuing to a center portion in the vehicle width direction of the instrument panel 1, a driver seat and a steering wheel 3 arranged on the right side of the console box 2, a front passenger seat arranged on the left side of the console box 2, an operation device 10, and the like. An audio device 4 is disposed near a connection portion between the instrument panel 1 and the console box 2. An air conditioned air blowing outlet 5a of an air conditioner 5 (air conditioning device) is formed above the audio device 4.

0037A monitor 7 (display portion) capable of displaying various screens is disposed above the air conditioned air blowing outlet 5a. The monitor 7 is constituted with, for example, a liquid crystal monitor or the like. The monitor 7 is configured to be capable of displaying a selection screen of titles classified by categories (e.g., example, artist, genre, etc.) of the audio 4, a selection screen of various operation functions (e.g., air conditioning mode, set temperature, air flow volume, etc.) of the air conditioner 5, and a selection screen of various operation functions (e.g., a search screen, route information, peripheral map information, etc.) of a navigation system 6.

0038At an upper position of the console box 2 near the driver seat, a variable speed shift lever 8, a parking brake lever 9, various input system switches 11 to 17 constituting a part of the operation device 10, and the like are disposed.

0039Next, the operation device 10 will be described.

0040As shown in <figref idref="DRAWINGS">FIGS. 2 and 3</figref>, the operation device 10 includes an input system switch including a rotatable commander switch (hereinafter abbreviated as commander) 11 (operation unit), selection switches 12 to 14, a return switch 15, a decision switch 16, and a volume switch 17, and an ECU (electronic control unit) 20 (control unit) capable of selecting display contents of the monitor 7 and controlling the in-vehicle devices 4 to 6 in response to the operation of these input system switches.

0041The commander 11 is configured to be rotatable in any of the left and right directions around a rotation shaft 18a. A pressure sensor 11a is provided on the top portion of the commander 11. The commander 11 is displaced along a rotation trajectory (operation trajectory) defined about the rotation shaft 18a by a manual operation of the driver.

0042Using the pressure sensor 11a, it is possible to determine the holding state of the commander 11 by the driver.

0043When the driver holds the commander 11 from above, i.e., in an upper holding state, the palm of the driver contacts the top portion of the commander 11. Therefore, a contact pressure equal to or higher than a predetermined pressure is detected by the pressure sensor 11a. Accordingly, when a contact pressure equal to or higher than the predetermined pressure is detected by the pressure sensor 11a, it can be determined that the holding state of the commander 11 is the upper holding state.

0044On the other hand, when the driver holds the commander 11 from the side, i.e., in a lateral holding state, the palm of the driver does not contact the top portion of the commander 11 because the driver holds the commander 11 with his fingertips. Therefore, a contact pressure equal to or higher than the predetermined pressure is not detected by the pressure sensor 11a. Accordingly, when a contact pressure equal to or higher than the predetermined pressure is not detected by the pressure sensor 11a, it can be determined that the holding state of the commander 11 is the lateral holding state.

0045Instead of the pressure sensor 11a, a strain gauge or an electrode may be used.

0046As shown in <figref idref="DRAWINGS">FIG. 3</figref>, the rotation shaft 18a is integrally formed with a rotation shaft of a rotary encoder 18 provided at a position opposite to the commander 11, and a gear 18b is connected to a middle portion thereof.

0047A motor 19 (reaction force application portion) that gives an operation reaction force F corresponding to a manual operation by the driver to the commander 11 is provided in parallel to the rotary encoder 18. A gear 19b is connected to a rotating shaft 19a, which is an output shaft of the motor 19, and the gear 19b meshes with the gear 18b.

0048The pressure sensor 11a and the rotary encoder 18 are formed to be capable of outputting a detection signal to the ECU 20. The motor 19 is formed to be capable of receiving a command signal from the ECU 20.

0049The selection switch 12 is a switch for selecting the audio 4. The selection switch 13 is a selection switch of the air conditioner 5. The selection switch 14 is a selection switch for the navigation system 6. When any of the selection switches 12 to 14 is pressed, a menu screen of the in-vehicle device corresponding to the selection switch selected among the in-vehicle devices 4 to 6 is displayed on the monitor 7.

0050When pressed, the return switch 15 is capable of returning the currently displayed screen to the previously displayed screen before pressed. When pressed, the decision switch 16 is capable of executing the selected function in the selected in-vehicle device.

0051The volume switch 17 is a switch for adjusting the volume of sound that is output by the audio 4 or the like.

0052The input system switches 12 to 17 are each formed to be capable of outputting a detection signal to the ECU 20.

0053Next, the ECU 20 will be described.

0054The ECU 20 is configured to be capable of controlling the operation reaction force F applied to the commander 11 in accordance with the manual operation amount about the rotation shaft 18a by the driver of the commander 11. The operation reaction force F gives the driver the operation feeling for each predetermined rotation angle θ.

0055The ECU 20 outputs a command signal based on a commander viscosity characteristic X and an F-θ characteristic W, which will be described later, to the motor 19.

0056The ECU 20 is an electronic control unit including a CPU, an ROM, and an RAM, and performs various calculation processing by loading an application program stored in the ROM into the RAM and executing the application program at the CPU.

0057As shown in <figref idref="DRAWINGS">FIG. 3</figref>, the ECU 20 includes a rotation angular speed calculation unit 21 (displacement speed detection unit), an operation unit viscosity characteristic correction unit 22, a holding state determination unit 23, an F-θ characteristic correction unit 24, a motor control unit 25, a monitor control unit 26, an in-vehicle device control unit 27, a memory 28, and the like.

0058First, the rotation angular speed calculation unit 21 will be described.

0059A signal of a rotation angle θ (displacement) is input from the rotary encoder 18 to the rotation angular speed calculation unit 21. The rotation angular speed calculation unit 21 calculates a rotation angular speed dθ (displacement speed) of the commander 11 based on the rotation angle θ having been input.

0060It is considered that the muscle activity amount of the driver is large when the rotational angular speed dθ of the commander 11 is fast, and the muscle activity amount of the driver is small when the rotational angular speed dθ of the commander 11 is slow. That is, the rotation angular speed calculation unit 21 calculates the rotation angular speed dθ of the commander 11 to detect the state of the muscle activity of the driver.

0061Next, the operation unit viscosity characteristic correction unit 22 will be described.

0062The operation unit viscosity characteristic correction unit 22 is configured to be capable of changing the time constant of the commander viscosity characteristic X (operation unit viscosity characteristic) stored in the memory 28 based on the muscle tonus degree of the driver.

0063The memory 28 will be described before the description of the operation unit viscosity characteristic correction unit 22.

0064In the memory 28, initial F-θ characteristics Wa and Wb and the commander viscosity characteristic X that have been obtained through experiments or the like are stored in advance.

0065As will be described later, the F-θ characteristic correction unit 24 sets first and second F-θ characteristics W1 and W2, which are an intermediate F-θ characteristic, based on the initial F-θ characteristics Wa and Wb. Finally, based on the first and second F-θ characteristics W1 and W2, the F-θ characteristic correction unit 24 sets a basic F-θ characteristic W3 for controlling the operation of the motor 19.

0066As shown in <figref idref="DRAWINGS">FIG. 4</figref>, the initial F-θ characteristics Wa and Wb are wavy characteristics defined by the rotation angle θ (operation amount) of the commander 11 on the horizontal axis and the operation reaction force F applied to the commander 11 on the vertical axis. As described later, the F-θ characteristic correction unit 24 selects one of the initial F-θ characteristics Wa and Wb.

0067The initial F-θ characteristic Wa is composed of a plurality of peak portions that are defined by both bottom portions Qa next to each other in front and rear, a top portion Pa, and a cycle Ta. That is, one peak portion is defined by the front bottom portion Qa, the top portion Pa, and the rear bottom portion Qa in the cycle Ta. The initial F-θ characteristic Wa has an increasing tendency in which the operation reaction force F increases at a predetermined change rate in the period from the front bottom portion Qa to the rear top portion Pa. The initial F-θ characteristic Wa has a decreasing tendency of a change rate larger than the change rate described above in the period from the top portion Pa to the rear bottom portion Qa.

0068The initial F-θ characteristic Wb is composed of a plurality of peak portions that are defined by both bottom portions Qb next to each other in front and rear, which are the same reaction force as the operation reaction force F of the both bottom portions Qa, a top portion Pb which is a reaction force larger than the operation reaction force F of the top portion Pa, and a cycle Tb (Tb<Ta). The initial F-θ characteristic Wb has an increasing tendency in which the operation reaction force F increases at a predetermined change rate in the period from the front bottom portion Qb to the rear top portion Pb. The initial F-θ characteristic Wb has a decreasing tendency of a change rate larger than the change rate described above in the period from the top portion Pb to the rear bottom portion Qb.

0069Sa and Sb respectively denote switching timings of display contents (screen) of the monitor 7. The switching timings Sa and Sb are set in advance to the initial F-θ characteristics Wa and Wb, respectively.

0070As shown in <figref idref="DRAWINGS">FIG. 5</figref>, the commander viscosity characteristic X is a characteristic defined by the rotation angular speed dθ of the commander 11 on the horizontal axis and the viscosity value corresponding to the differential value of the operation reaction force F of the commander 11 on the vertical axis.

0071The commander viscosity characteristic X is a characteristic that has a time constant such that the viscosity value increases as the rotation angular speed dθ increases when the rotation angular speed dθ is less than a reference rotation angular speed Va, and the viscosity value becomes constant regardless of the rotation angular speed dθ when the rotation angular speed dθ is equal to or larger than the reference rotation angular speed Va.

0072As described later, the increasing tendency of the peak portions of the basic F-θ characteristic W3 (change rate) is set by the F-θ characteristic correction unit 24 based on the commander viscosity characteristic X.

0073Therefore, when the rotation angular speed dθ is less than the reference rotation angular speed Va, the larger the rotation angular speed dθ is, the larger the operation reaction force F becomes. That is, when the muscle activity amount of the driver is lower than the muscle activity amount corresponding to the reference rotation angular speed Va and only a small viscous reaction force is generated with respect to the driver based on the muscle viscosity characteristic, the higher the muscle activity amount becomes, the larger the operation reaction force F becomes.

0074On the other hand, when the rotation angular speed dθ is equal to or larger than the reference rotation angular speed Va, the operation reaction force F becomes constant regardless of the rotation angular speed dθ. That is, when the muscle activity amount of the driver is higher than the muscle activity amount corresponding to the reference rotation angular speed Va and a large viscous reaction force is generated with respect to the driver based on the muscle viscosity characteristic, the operation reaction force F becomes constant regardless of the muscle activity amount.

0075Therefore, it is possible to give the driver an operation feeling that is appropriate for the muscle viscosity characteristic. This allows the operation reaction force F felt by the driver from the commander 11 to be optimized regardless of the muscle activity.

0076<figref idref="DRAWINGS">FIG. 6</figref> shows a muscle viscosity characteristic Y, which is a correlation between a joint angular speed and the viscosity value corresponding to the differential value of the operation reaction force F felt by the driver from the commander 11 ergonomically.

0077A characteristic y2 indicated by a dashed line is a characteristic when the tension of the driver is higher than that of a characteristic y1 indicated by a solid line. A characteristic y3 indicated by a chain line is a characteristic when the tension of the driver is higher than that of the characteristic y2 indicated by the dashed line. The muscle viscosity characteristic Y shows a characteristic in which the curvature of the downward convex shape becomes gentler (the time constant becomes larger) as the muscle tonus degree of the driver is higher, and when the joint angular speed is equal to or higher than a reference joint angular speed VP, the viscosity value converges to a constant value regardless of the tension of the driver. That is, the reference joint angular speed Vβ indicates a limit value of the response speed of the muscle spindle.

0078In the present embodiment, the reference rotation angular speed Va of the commander viscosity characteristic X is set based on the reference joint angular speed Vβ of the muscle viscosity characteristic Y indicating the limit value of the response speed of the muscle spindle.

0079The description of the operation unit viscosity characteristic correction unit 22 resumes.

0080As shown in <figref idref="DRAWINGS">FIG. 3</figref>, the operation unit viscosity characteristic correction unit 22 has a muscle tonus estimation unit 22a that estimates the muscle tonus of the driver. The operation unit viscosity characteristic correction unit 22 changes so that the higher the muscle tonus estimated by the muscle tonus estimation unit 22a is, the larger the time constant of the commander viscosity characteristic X becomes.

0081As shown in <figref idref="DRAWINGS">FIG. 5</figref>, a characteristic x2 indicated by a dashed line is a characteristic when the tension of the driver is higher than that of a characteristic x1 indicated by a solid line. A characteristic x3 indicated by a chain line is a characteristic when the tension of the driver is higher than that of the characteristic x2 indicated by the dashed line. That is, the commander viscosity characteristic X is set to a characteristic having a time constant such that the curvature of the upward convex shape becomes gentler (the time constant becomes larger) as the muscle tonus degree of the driver is higher, and when the rotation angular speed dθ is the reference rotation angular speed Va, the viscosity value converges to a constant value regardless of the tension of the driver.

0082Therefore, the load acting on the driver during the operation of the commander 11, which corresponds to the sum of the two reaction forces, i.e., the operation reaction force F and the viscous reaction force that is the motion resistance of the driver, can be made substantially constant regardless of the muscle activity of the driver. This can improve the operation feeling of the commander 11.

0083The muscle tonus estimation unit 22a has an operation experience amount calculation unit 22b.

0084The operation experience amount calculation unit 22b calculates an operation experience amount indicating the degree of experience of in which the driver operates the commander 11. Specifically, the operation experience amount calculation unit 22b cumulatively counts as the cumulative number of operations of the commander 11 the number of times when the operation of the commander 11 is started by the driver. The operation experience amount calculation unit 22b calculates as the operation experience amount of the commander 11 the cumulative number of operations of the commander 11.

0085For example, when the rotation angular speed dθ that is not 0 is calculated after a predetermined period of time or more has elapsed since the rotation angular speed dθ calculated by the rotation angular speed calculation unit 21 becomes 0, the operation experience amount calculation unit 22b determines that an operation of the commander 11 has been started by the driver and performs the cumulative count.

0086When the cumulative number of operations of the commander 11 is large (e.g., the number of times of determination is N or more), it is considered that the driver is familiar with the operation of the commander 11. On the other hand, when the cumulative number of operations of the commander 11 is small (e.g., the number of times of determination is less than N), it is considered that the driver is not familiar with the operation of the commander 11. That is, the muscle tonus estimation unit 22a estimates the muscle tonus for the operation of the commander 11 by the driver, with the cumulative number of operations of the commander 11 calculated by the operation experience amount calculation unit 22b as a parameter.

0087For example, when the cumulative number of operations of the commander 11 calculated by the operation experience amount calculation unit 22b is equal to or greater than a predetermined amount, it is considered that the driver is familiar with the operation of the commander 11 compared with a case where the cumulative number of operations of the commander 11 is less than the predetermined amount. As described above, when the cumulative number of operations of the commander 11 is equal to or greater than the predetermined amount, the muscle tonus estimation unit 22a estimates that the muscle tonus with respect to the operation of the commander 11 by the driver is low compared with a case where the cumulative number of operations of the commander 11 is less than the predetermined amount.

0088Next, the holding state determination unit 23 will be described.

0089The holding state determination unit 23 determines the holding state of the commander 11 by the driver based on an input signal from the pressure sensor 11a.

0090When the pressing force of the top portion of the commander 11 is high, the palm of the driver contacts the top portion of the commander 11, and the pressure sensor 11a detects a contact pressure equal to or greater than a predetermined pressure. On the other hand, when the pressing force of the top portion of the commander 11 is low, the palm of the driver does not contact the top portion of the commander 11, and hence the pressure sensor 11a does not detect a contact pressure equal to or higher than the predetermined pressure. That is, the holding state determination unit 23 determines the holding state of the commander 11 by the driver with the pressing force of the top portion of the commander 11 indicated by the contact pressure detected by the pressure sensor 11a as a parameter.

0091For example, when a contact pressure equal to or higher than a predetermined pressure has been detected by the pressure sensor 11a, the holding state determination unit 23 determines that the driver holds the commander 11 from above, i.e., in the upper holding state. On the other hand, when a contact pressure equal to or higher than the predetermined pressure has not been detected by the pressure sensor 11a, the holding state determination unit 23 determines that the driver holds the commander 11 from the side, i.e., in the lateral holding state.

0092Next, the F-θ characteristic correction unit 24 will be described.

0093The F-θ characteristic correction unit 24 is configured to be capable of changing the operation reaction force F of the initial F-θ characteristics Wa and Wb stored in the memory 28 and the switching timings Sa and Sb of the display contents.

0094The F-θ characteristic correction unit 24 sets the first and second F-θ characteristics W1 and W2 using an operation reaction force adjustment function and a cycle adjustment function, and finally sets the basic F-θ characteristic W3 for controlling the operation of the motor 19. Hereinafter, unless otherwise described, the F-θ characteristic W, the waveform cycle T, the waveform top portion P, the waveform bottom portion Q, the display content switching timing S, and the operation reaction force F will be described as symbols representing each of them.

0095The operation reaction force adjustment function is a function of adjusting the operation reaction force F at the top portion P in a situation of being affected by the muscle viscosity characteristic and in a situation of emphasizing the load perceived by the driver at a predetermined rotation angle θ.

0096When the driver holds the commander 11 in the upper holding position, many joints are related to the operation, and hence the viscous reaction force based on the muscle viscosity characteristic has a great influence on the load perceived by the driver. Therefore, the F-θ characteristic correction unit 24 reduces the operation reaction force F when the driver holds the commander 11 in the upper holding state compared to when the driver holds the commander 11 in the lateral holding state. Thus, the F-θ characteristic correction unit 24 reduces the influence of the muscle viscosity characteristic based on the holding state of the commander 11 on the load perceived by the driver.

0097Further, as described above, when the operation experience amount of the commander 11 by the driver is large, the tension of the driver is lower than that when the operation experience amount is small, and hence the influence of the viscous reaction force based on the muscle viscosity characteristic is small on the load perceived by the driver.

0098Therefore, as shown in <figref idref="DRAWINGS">FIG. 7A</figref>, the F-θ characteristic correction unit 24 corrects the operation reaction force F of the top portion P to (1+α)×F using a correction coefficient α (0<α) when the operation experience amount of the commander 11 by the driver is large. Thus, the F-θ characteristic correction unit 24 reduces the influence of the muscle viscoelasticity based on the operation experience on the load perceived by the driver. The operation experience amount calculation unit 22b may calculate the cumulative operation time of the commander 11 as the operation experience amount, not limited to the cumulative number of operations of the commander 11. Alternatively, the operation experience amount calculation unit 22b may simply calculate the travel time or the travel distance of the vehicle as the operation experience amount.

0099As shown in <figref idref="DRAWINGS">FIG. 7B</figref>, when the operation experience amount of the commander 11 by the driver is small, the F-θ characteristic correction unit 24 may correct the operation reaction force F of the top portion P to the operation reaction force (1−α)×F using the correction coefficient α.

0100As shown in <figref idref="DRAWINGS">FIG. 8</figref>, in a situation where a category A including titles a1 to a5 and a category B including titles b1 and b2 are displayed on the monitor 7, it is assumed that the driver scrolls the title (highlighted) selected by a blind operation. In this case, the driver is incapable of visually recognizing the currently selected title position.

0101Therefore, as shown in <figref idref="DRAWINGS">FIG. 9</figref>, in the selection operation of the title included in the category A, the F-θ characteristic correction unit 24 sets the maximum value of the operation reaction force F when the driver selects the end titles a1 and a5 located at the head and the tail of the category A to be larger than the maximum value of the operation reaction force F when the driver selects the titles a2 to a4.

0102The F-θ characteristic correction unit 24 sets the maximum value of the operation reaction force F when the driver selects the title a3 located at the center of the category A to be smaller than the maximum value of the operation reaction force F when the driver selects the titles a2 and a4 next to the title a3.

0103Similarly, in the selection operation of the title included in the category B, the F-θ characteristic correction unit 24 sets the maximum value of the operation reaction force F when selecting the end title b1 to be smaller than the maximum value of the operation reaction force F when selecting the end title a5 of the category A next to the title b1 and larger than the maximum value of the operation reaction force F when selecting the title b2 next to the title b1. This allows the driver to perceive, haptically through the operation reaction force F, the transition of the category corresponding to the title to be selected.

0104The cycle adjustment function is a function of adjusting the cycle T of the F-θ characteristic W in a situation where the operation reaction force F corresponding to the holding state of the commander 11 affects the load perceived by the driver.

0105When the driver holds the commander 11 in the lateral holing state, the driver operates only with the finger joints. Therefore, it is not easy for the driver to operate the commander 11 by rotating it, and the operability of the commander 11 is deteriorated.

0106Therefore, when the driver holds the commander 11 in the lateral holing state, the F-θ characteristic correction unit 24 reduces the cycle T of the F-θ characteristic W. Thus, the F-θ characteristic correction unit 24 reduces the operation amount of the commander 11 by the driver. On the other hand, the F-θ characteristic correction unit 24 increases the cycle T of the F-θ characteristic W when the driver holds the commander 11 in the upper holding state, compared to when the holding state is in the lateral holding state. Thus, the operability of the commander 11 is maintained regardless of the holding state of the commander 11 by the driver.

0107Furthermore, the F-θ characteristic correction unit 24 respectively allocates the display contents displayed on the monitor 7 to the peak portions of the F-θ characteristic W, and, in accordance with the rotation angular speed dθ of the commander 11, sets the switching timing S of the display contents of the monitor 7.

0108In the example shown in <figref idref="DRAWINGS">FIG. 9</figref>, based on the operation amount (rotation angle θ) of the commander 11, the titles a1 to a5, b1, and b2 that can be displayed on the monitor 7 are allocated to the rotation angle θ so that the top portion P of the peak portion of the F-θ characteristic W is included in each display period.

0109In the example shown in <figref idref="DRAWINGS">FIG. 10</figref>, the F-θ characteristic correction unit 24 sets the switching timing S of the titles a1 to a5, b1, and b2 displayed on the monitor 7 to be between the top portion P of the peak portion one cycle before and the rear bottom portion Q continuous to the rear side of the top portion P.

0110The initial position of the switching timing S is the rear bottom portion Q.

0111The title displayed on the monitor 7 is continuously displayed by the monitor control unit 26 described later until the commander 11 is operated at the adjacent switching timing S or until the operation of the in-vehicle devices 4 to 6 is started.

0112The F-θ characteristic correction unit 24 corrects the switching timing S to (1−k·dθ)×S using a correction coefficient k (0<k<1) in order to shift the switching timing S to the top portion P side as the rotation angular speed dθ of the commander 11 is faster.

0113Next, the motor control unit 25, the monitor control unit 26, and the in-vehicle device control unit 27 will be described.

0114The motor control unit 25 outputs to the motor 19 a command signal based on the commander viscosity characteristic X set by the operation unit viscosity characteristic correction unit 22 and the basic F-θ characteristic W3 set by the F-θ characteristic correction unit 24. Thus, the motor control unit 25 applies the operation reaction force F to the commander 11 in accordance with the manual operation amount of the driver.

0115The monitor control unit 26 displays the selected menu screen on the monitor 7 when the driver presses any of the selection switches 12 to 15. When the commander 11 is operated by the driver while a predetermined menu screen is displayed, the monitor control unit 26 outputs to the monitor 7 a command signal based on the switching timing S of the basic F-θ characteristic W3 set by a waveform setting unit 24. Thus, the monitor control unit 26 displays on the monitor 7 a title (display contents) corresponding to the manual operation amount of the driver.

0116When the driver decides the selected title by the pressing operation of the decision switch 16, the in-vehicle device control unit 27 outputs to the in-vehicle device a command signal for executing the functional operation of the in-vehicle device corresponding to the selected title.

0117Next, the operation reaction force control of the operation device 10 will be described with reference to the flowcharts of <figref idref="DRAWINGS">FIGS. 11 to 13</figref>. Si (i=1, 2 . . . ) denotes steps for each processing.

0118As shown in the flowchart of <figref idref="DRAWINGS">FIG. 11</figref>, first, in the operation reaction force control processing, the ECU 20 reads (step S1) the output values of the pressure sensor 11a and the rotary encoder 18 and various information such as the initial F-θ characteristics Wa and Wb and the commander viscosity characteristic X, and causes the process to proceed to step S2.

0119In step S2, the ECU 20 determines whether the commander 11 has been operated.

0120For example, in step S2, the ECU 20 determines whether the commander 11 has been operated based on whether the rotation angular speed dθ calculated by the rotation angular speed calculation unit 21 is not 0.

0121If it is determined in step S2 that the commander 11 has been operated, the ECU 20 causes the processing to proceed to step S3. In step S3, the operation unit viscosity characteristic correction unit 22 performs processing (commander viscosity characteristics setting process) for changing the time constant of the commander viscosity characteristic X based on the rotation angular speed dθ and the operation experience amount, as described above.

0122If it is determined in step S2 that the commander 11 has not been operated, the ECU 20 causes the processing to return to step S1 and continues to read information.

0123In step S4, the F-θ characteristic correction unit 24 performs the processing of setting the basic F-θ characteristic W3 (basic F-θ characteristic setting processing) as described above, and causes the processing to proceed to step S5.

0124In step S5, the monitor control unit 26 determines whether the commander 11 is currently operated to a position (rotation angle θ) corresponding to the switching timing S in the basic F-θ characteristic W3.

0125As a result of the determination in step S5, if the monitor control unit 26 determines that the commander 11 is operated to a position corresponding to the switching timing S, the monitor control unit 26 displays a corresponding display screen (title) (step S6), and causes the processing to proceed to step S7. As a result of the determination in step S5, when the monitor control unit 26 determines that the commander 11 is not operated to the position corresponding to the switching timing S, the monitor control unit 26 causes the processing to proceed to step S7.

0126In step S7, the in-vehicle device control unit 27 determines whether the decision switch 16 has been pressed.

0127It is assumed that as a result of the determination in step S7, the in-vehicle device control unit 27 determines that the decision switch 16 has been pressed. In this case, the in-vehicle device control unit 27 outputs to the in-vehicle device (step S8) a command signal for causing the in-vehicle device to execute the function of the in-vehicle device corresponding to the title selected by the driver, and causes the processing to return to step S1. As a result of the determination in step S7, if the in-vehicle device control unit 27 determines that the decision switch 16 has not been pressed, the in-vehicle device control unit 27 causes the processing to return to step S1.

0128Next, the basic F-θ characteristic setting processing in step S4 will be described.

0129As shown in the flowchart of <figref idref="DRAWINGS">FIG. 12</figref>, in the basic F-θ characteristic setting processing, first, in step S11, the operation experience amount calculation unit 22b determines whether the operation of the commander 11 by the driver has been started, as described above.

0130As a result of the determination in step S11, if the operation experience amount calculation unit 22b determines that the operation of the commander 11 has been started, the operation experience amount calculation unit 22b adds 1 to the value of a counter C of the cumulative number of operations of the commander 11 (step S12), and causes the processing to proceed to step S13. As a result of the determination in step S11, if the operation experience amount calculation unit 22b determines that the operation of the commander 11 has not been started, the operation experience amount calculation unit 22b causes the processing to proceed to step S13 on the assumption that the operation of the commander 11 by the driver is continuing.

0131In step S13, the holding state determination unit 23 determines whether the holding state of the commander 11 by the driver is the upper holding state.

0132If it is determined in step S13 that the holding state of the commander 11 by the driver is the upper holding state, the F-θ characteristic correction unit 24 sets the initial F-θ characteristic Wa (<figref idref="DRAWINGS">FIG. 4</figref>) as the first F-θ characteristic W1 (step S14), and causes the processing to proceed to step S16.

0133If it is determined in step S13 that the holding state of the commander 11 by the driver is not the upper holding state, the F-θ characteristic correction unit 24 determines that the holding state of the commander 11 by the driver is the lateral holding state, sets the initial F-θ characteristic Wb (<figref idref="DRAWINGS">FIG. 4</figref>) as the first F-θ characteristic W1 (step S15), and causes the processing to proceed to step S16.

0134In step S16, as described above, the F-θ characteristic correction unit 24 corrects the switching timing S of the first F-θ characteristic W1 so as to shift the switching timing S to the top portion P side as the rotation angular speed dθ of the commander 11 is faster.

0135In step S17, the F-θ characteristic correction unit 24 sets, as the second F-θ characteristic W2, the first F-θ characteristic W1 in which the operation reaction force F and the switching timing S have been corrected, and causes the processing to proceed to step S18.

0136In step S18, the F-θ characteristic correction unit 24 corrects the operation reaction force F, and ends the processing.

0137Next, the processing of correcting the operation reaction force F in step S18 will be described.

0138As shown in the flowchart of <figref idref="DRAWINGS">FIG. 13</figref>, in the processing of correcting the operation reaction force F, first, in step S21, the F-θ characteristic correction unit 24, as shown in <figref idref="DRAWINGS">FIG. 9</figref>, allocates a plurality of titles (contents) included in each category to the peak portions of the second F-θ characteristic W2, and causes the processing to proceed to step S22.

0139In step S22, the F-θ characteristic correction unit 24 adjusts the operation reaction force F when each title in the category is selected so that the maximum operation reaction force F (operation reaction force F at the top portion P) corresponding to the title increases as the title is positioned on the end side with respect to the center portion of the monitor 7 in the same category. Then, the F-θ characteristic correction unit 24 causes the processing to proceed to step S23.

0140In step S23, the F-θ characteristic correction unit 24 determines whether the counter C after the addition in step S12 indicates the number of determination times N or more.

0141It is assumed that as a result of the determination in step S23, the F-θ characteristic correction unit 24 determines that the counter C indicates the number of determination times N or more. In this case, the operation experience amount of the commander 11 by the driver is large, and hence the F-θ characteristic correction unit 24 incrementally corrects the operation reaction force F of the top portion P of each peak portion of the second F-θ characteristic W2 to (1+α)×F, respectively, and causes the processing to proceed to step S25.

0142If it is determined in step S23 that the counter C indicates the number of determination times of less than N, the F-θ characteristic correction unit 24 causes the processing to proceed to step S25 without increasing the operation reaction force F of the top portion P of each peak portion of the second F-θ characteristic W2 because the operation experience amount of the commander 11 by the driver is small.

0143In step S25, the F-θ characteristic correction unit 24 sets the corrected second F-θ characteristic W2 to the basic F-θ characteristic W3, and ends the processing.

0144Next, the operations and effects of the operation device 10 for vehicle of the present embodiment will be described.

0145According to the operation device 10, the motor 19 that applies the operation reaction force F to the commander 11 at each predetermined rotation angle θ of the commander 11 is provided. Therefore, it is possible to appropriately give the driver an operation feeling of the commander 11.

0146The ECU 20 changes the operation reaction force F in accordance with the rotation angular speed dθ detected by the rotation angular speed calculation unit 21. This allows the operation reaction force F felt by the driver to be optimized regardless of the rotation angular speed dθ of the commander 11. This is capable of eliminating the sense of incongruity from the driver.

0147Since the ECU 20 changes the operation reaction force F in accordance with the rotation angular speed dθ detected by the rotation angular speed calculation unit 21 so that the load acting on the driver at the time of operating the commander 11 becomes constant, the operation feeling of the commander 11 can be improved.

0148Since the larger the rotation angular speed dθ detected by the rotation angular speed calculation unit 21 is, the more the ECU 20 increases the operation reaction force F, it is possible to give the driver an appropriate operation feeling.

0149The memory 28 is included for storing the commander viscosity characteristic X that has been set with the operation reaction force F applied to the commander 11 and the rotation angular speed dθ of the commander 11 as parameters. The ECU 20 changes the operation reaction force F so that the load applied to the driver at the time of operating the commander 11, which is determined by the commander viscosity characteristic X and the muscle viscosity characteristic of the driver, becomes constant. Therefore, the load acting on the driver can be kept constant regardless of the muscle activity of the driver. This can improve the operation feeling of the commander 11.

0150The commander viscosity characteristic X is a characteristic that has a time constant at which when the rotation angular speed dθ is less than the reference rotation angular speed Va, the larger the rotation angular speed dθ is, the larger the operation reaction force F becomes, and when the rotation angular speed dθ is equal to or greater than the reference rotation angular speed Va, the operation reaction force F becomes constant regardless of the rotation angular speed dθ. Therefore, it is possible to give the driver an appropriate operation feeling.

0151The ECU 20 has the operation unit viscosity characteristic correction unit 22 that changes the time constant of the commander viscosity characteristic X. Therefore, it is possible to obtain the commander viscosity characteristic X that matches the muscle viscosity characteristic of the driver through the time constant.

0152The operation unit viscosity characteristic correction unit 22 has the muscle tonus estimation unit 22a that estimates the muscle tonus of the driver, and changes the operation reaction force F so that the higher the muscle tonus estimated by the muscle tonus estimation unit 22a is, the larger the time constant of the commander viscosity characteristic X becomes. Therefore, it is possible to obtain the commander viscous characteristic X that matches the muscle tonus of the driver.

0153The muscle tonus estimation unit 22a estimates the muscle tonus based on the operation experience amount of the commander 11 by the driver. Specifically, the muscle tonus estimation unit 22a estimates that when the operation experience amount of the commander 11 by the driver is a predetermined amount or more, the muscle tonus is lower than that when the operation experience amount of the commander 11 is less than the predetermined amount. Therefore, the muscle tonus can be estimated with the operation experience amount of the commander 11 as a parameter.

0154The ECU 20 changes the operation reaction force F in accordance with the muscle tonus estimated by the muscle tonus estimation unit 22a based on the operation experience amount of the commander 11. Therefore, it is possible to obtain the commander viscous characteristic X that further matches the muscle tonus of the driver through the operation experience amount of the commander 11.

0155Next, variations in which the above embodiment is partially modified will be described.

01561] In the above embodiment, the example is described in which the operation device 10 includes the audio, the air conditioner, and the navigation system as in-vehicle devices, and controls these devices using the commander. However, the operation device 10 may be configured to control at least any one of these in-vehicle devices or to control another in-vehicle device.

01572] In the above embodiment, the example is described in which the commander 11 is a commander switch that is rotatable about the fixed rotation shaft. However, the operation device 10 may include a switch function capable of being displaced along a predetermined operation trajectory by at least a manual operation by the driver. For example, the operation device 10 may include a slider-type switch that can slide along a linear motion trajectory or a joystick-type switch, instead of the commander 11. In this case, the rotation shaft may be formed so as to be tiltable in the front-rear and right-left directions.

0158Furthermore, in place of the commander 11, it is also possible to apply a multi-function commander with which the rotation shaft can be stroked on a straight line.

01593] In the above embodiment, the example is described in which the F-θ characteristic correction unit 24 sets the F-θ characteristic by calculation using the rotation angular speed θ and the commander viscosity characteristic X. However, a plurality of F-θ characteristics in which the commander viscosity characteristics are taken into consideration for each rotation angular speed may be held as maps. In accordance with this, the F-θ characteristic correction unit 24 may selectively extract any of the plurality of maps.

01604] In the above embodiment, the example is described in which the muscle tonus estimation unit 22a estimates the muscle tonus based on the operation experience amount of the commander 11. However, the muscle tonus estimation unit 22a may estimate the muscle tonus based on the holding state of the commander 11 by the driver instead of the operation experience amount. Specifically, if the holding state determination unit 23 determines that the driver holds the commander 11 in the lateral holing state, the muscle tonus estimation unit 22a may estimate that the muscle tonus is lower than that when the holding state is determined to be the upper holding state.

0161It is also possible to estimate the muscle tonus with the sheet height and the sheet slide amount as parameters.

0162According to the present aspect, it is possible to estimate the muscle tonus with the holding state of the commander 11 by the driver or the like as a parameter.

01635] In the above embodiment, the example is described in which, using a predetermined determination times N, the F-θ characteristic correction unit 24 increases the operation reaction force F when the operation experience amount is large and maintains the operation reaction force F when the operation experience amount is small. However, the F-θ characteristic correction unit 24 may reduce the operation reaction force F when the operation experience amount is small.

0164The F-θ characteristic correction unit 24 may linearly increase the operation reaction force F based on an increase in the operation experience amount.

01656] In addition, those skilled in the art can carry out the present invention in embodiments in which various modifications are added to the above embodiments or a combination of the embodiments without departing from the scope of the present invention, and the present invention also includes such modifications.

Summary of Present Embodiment

0166An operation device for a vehicle according to the first aspect of the present invention is an operation device for a vehicle in which an in-vehicle device is controlled in accordance with an operation amount of an input unit which is manually operated by a driver, the operation device including: an operation unit that can be displaced along a predetermined operation trajectory by a manual operation of the driver; a displacement speed detection unit that detects a displacement speed of the operation unit; a reaction force application unit that applies an operation reaction force to the operation unit for each predetermined operation amount of the operation unit; and a control unit that controls an operation reaction force applied by the reaction force application unit, wherein: the control unit changes the operation reaction force in accordance with a displacement speed that is detected by the displacement speed detection unit.

0167In this aspect, a reaction force application unit that applies an operation reaction force to the operation unit for each predetermined operation amount of the operation unit is included. As a result, it is possible to give the driver an appropriate operation feeling of the operation unit.

0168The control unit changes the operation reaction force in accordance with a displacement speed that is detected by the displacement speed detection unit. Therefore, the operation reaction force felt by the driver can be optimized regardless of the displacement speed of the operation unit. This is capable of eliminating the sense of incongruity from the driver.

0169In the first aspect, it is preferable that the control unit changes the operation reaction force in accordance with to the displacement speed detected by the displacement speed detection unit so that the load acting on the driver at the time of operating the operation unit becomes constant.

0170According to the present aspect, since the operation reaction force is changed so that the load acting on the driver at the time of operating the operation unit becomes constant, the operation feeling of the operation unit can be improved.

0171In the above aspect, it is preferable that the larger the displacement speed detected by the displacement speed detection unit is, the more the control unit increases the operation reaction force.

0172According to the present aspect, an appropriate operation feeling can be given to the driver because the larger the displacement speed detected by the displacement speed detection unit is, the larger the operation reaction force is made.

0173In the first aspect, it is preferable to further include a memory that stores an operation unit viscosity characteristic that has been set with the operation reaction force applied to the operation unit and the displacement speed of the operation unit as parameters, and the control unit changes the operation reaction force so that the load acting on the driver at the time of operating the operation unit, which is determined by the operation unit viscosity characteristic and the muscle viscosity characteristic of the driver, becomes constant.

0174According to this aspect, the load acting on the driver can be kept constant regardless of the muscle activity of the driver. This can improve the operation feeling of the operation unit.

0175In the above aspect, it is preferable that the operation unit viscosity characteristic is a characteristic that has a time constant such that when the displacement speed is less than the reference displacement speed, the larger the displacement speed is, the larger the operation reaction force becomes, and when the displacement speed is equal to or greater than the reference displacement speed, the operation reaction force becomes constant regardless of the displacement speed.

0176According to this aspect, it is possible to give the driver an appropriate operation feeling.

0177In the above aspect, it is preferable that the control unit has the operation unit viscosity characteristic correction unit that changes the time constant of the operation unit viscosity characteristic.

0178According to this aspect, it is possible to obtain the operation unit viscosity characteristic that matches the muscle viscosity characteristic of the driver through the time constant.

0179In the above aspect, it is preferable that the operation unit viscosity characteristic correction unit has a muscle tonus estimation unit that estimates the muscle tonus of the driver, and changes the operation reaction force so that the higher the muscle tonus estimated by the muscle tonus estimation unit is, the larger the time constant of the operation unit viscosity characteristic becomes.

0180According to this aspect, it is possible to obtain the operation unit viscosity characteristic that matches the muscle tonus of the driver.

0181In the above aspect, it is preferable that the muscle tonus estimation unit estimates that when the operation experience amount of the operation unit by the driver is a predetermined amount or more, the muscle tonus is lower than that when the operation experience amount of the operation unit is less than the predetermined amount.

0182According to this aspect, it is possible to estimate the muscle tonus with the operation experience amount of the operation unit by the driver as a parameter.

0183Alternatively, in the above aspect, it is preferable to further includes: a pressure sensor that detects a contact pressure of the operation unit by the palm of the driver; and a holding state determination unit that determines, based on the contact pressure of the operation unit detected by the pressure sensor, whether the holding state of the operation unit by the driver is the upper holding state in which the operation unit is held from above or the lateral holding state in which the operation unit is held from lateral, wherein: when the holding state of the operation unit is determined to be the lateral holding state by the holding state determination unit, the muscle tonus estimation unit estimates that the muscle tonus is lower than that when the holding state of the operation unit is determined to be the upper holding state by the holding state determination unit.

0184According to this aspect, it is possible to estimate the muscle tonus with the holding state of the operation unit by the driver as a parameter.

0185In the above aspect, the control unit may change the operation reaction force in accordance with the muscle tonus estimated by the muscle tonus estimation unit based on the operation experience amount of the operation unit.

0186According to this aspect, it is possible to obtain the operation unit viscosity characteristic that further matches the muscle tonus of the driver through the operation experience amount of the operation unit.

Contents6

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Citations
Document	Relation	Office	Cited during
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2017029921	Japan	A	2017-02-21
2018005501	Japan	W	2018-02-16

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JP2018136677A	Japan	A	2018-08-30
WO2018155338A1	World Intellectual Property Organization (WIPO)	A1	2018-08-30
JP6481699B2	Japan	B2	2019-03-13
CN110312980A	China	A	2019-10-08
EP3572906A1	European Patent Office (EPO)	A1	2019-11-27
US2019361479A1	United States of America	A1	2019-11-28
EP3572906A4	European Patent Office (EPO)	A4	2020-03-04
CN110312980B	China	B	2020-11-17
EP3572906B1	European Patent Office (EPO)	B1	2021-05-05
US11048288B2This record	United States of America	B2	2021-06-29

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